Simulated scene radiance data and sensor irradiance were generated for a collection of 4000 city scenes, using the ISET3d softwarehttps://github.com/iset/iset3d [1]}. This software defines the positions of vehicles and pedestrians that match traffic statistics using the Simulation of Urban MObility (SUMO) software packagehttp://sumo.sourceforge.net/ [2]}. The specific objects (vehicles, pedestrians, bicyclists) scenes and their surface properties were assembled by random sampling from a database of nearly 100 car, 3 bus, 80 pedestrians, 10 bicycles. The buildings, trees and other city features were positioned by an ISET3d algorithm that samples from city and suburban building collections including more than 200 buildings.
